#ifndef ANDRES_MODULES_MAIN_TRAKCER_H
#define ANDRES_MODULES_MAIN_TRAKCER_H

#include <string>
#include <vector>
#include <map>
#include <base/defines.h>
#include <base/camera.h>
#include <base/vec.h>
#include "output/output.h"
#include "multiple_sign_tracker.hpp"

namespace TRACK
{
    class MainTracker
    {
    public:
        MainTracker(const std::string &root_path);
        virtual ~MainTracker();
        void Tracking(const DlFrame &dlFrame, const hdmap_frame &hdmap_f, const GeoPoint &gps, const Camera &cam, const Pose &pose, DbgFrame* dbg_frame);
        bool TakeFirst(SignBatch &to_Vec);

    private:
        std::string root_path_;
        bool debug_message_;
        MST *rp_MST;

    };

} // namespace TRACK
#endif